version: 66.08
glider: 166
mission: 3
dive: 453
start: 11 6 110 1 19 2
data:
$ID,166
$MISSION,3
$DIVE,453
$N_DIVES,454
$D_SURF,3
$D_FLARE,5
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,240
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51913
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22154.484
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3072
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,9
$FG_AHR_24V,22
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.567585
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043148831
$SEABIRD_T_H,0.00063078973
$SEABIRD_T_I,2.2916694e-05
$SEABIRD_T_J,2.2962076e-06
$SEABIRD_C_G,-9.9893045
$SEABIRD_C_H,1.1222894
$SEABIRD_C_I,-0.0015891744
$SEABIRD_C_J,0.00020161238
$GPS1,061110,010700,2118.768,12600.848,40,1.6,40,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.7
$GPS2,061110,011838,2118.644,12600.803,12,1.6,12,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP_SOUTH_SOUTH
$TGT_LATLONG,2113.500,12601.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,178.4,9551,-19.7,-13.889
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,100,0.00,0.00,-82.62,0.000,2,0.000,0.000,168,1797,3515,0,0,0,0,0,0
$GC,103,-1.16,-214.1,6.5,-11.8,11,128,9.32,2.20,-7.85,0.000,4,0.226,0.054,2455,387,3949,0,0,0,0,0,0
$GC,367,-0.86,-214.1,114.1,-40.8,59,375,0.38,2.22,0.00,0.000,6,0.172,0.047,2551,1803,3951,0,0,0,0,0,0
$GC,697,-0.76,-214.1,193.1,-22.9,120,706,0.15,2.20,0.00,0.000,4,0.185,0.047,2584,3220,3954,0,0,0,0,0,0
$GC,854,-0.79,-214.1,218.3,-14.7,148,862,0.00,2.17,0.00,0.000,6,0.000,0.034,2580,1798,3955,0,0,0,0,0,0
$GC,1190,-0.77,-214.1,270.7,-15.8,209,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1798,3955,0,0,0,0,0,0
$GC,1521,-0.77,-214.1,320.4,-15.2,257,1525,0.00,2.20,0.00,0.000,4,0.000,0.050,2577,386,3955,0,0,0,0,0,0
$GC,1619,-0.78,-214.1,334.9,-15.3,265,1623,0.00,2.15,0.00,0.000,6,0.000,0.044,2566,1802,3955,0,0,0,0,0,0
$GC,1946,-0.78,-214.1,382.1,-13.9,295,1950,0.00,2.20,0.00,0.000,4,0.000,0.050,2566,385,3954,0,0,0,0,0,0
$GC,1969,-0.78,-214.1,385.8,-15.3,296,1977,0.00,2.20,0.00,0.000,6,0.000,0.046,2563,1791,3954,0,0,0,0,0,0
$GC,2296,-0.78,-214.1,428.3,-12.2,327,2300,0.00,2.17,0.00,0.000,4,0.000,0.050,2553,3213,3953,0,0,0,0,0,0
$GC,2339,-0.83,-214.1,433.0,-11.0,330,2343,0.00,2.12,0.00,0.000,6,0.000,0.036,2553,1792,3951,0,0,0,0,0,0
$GC,2664,-0.83,-214.1,476.7,-14.1,360,2668,0.00,2.17,0.00,0.000,4,0.000,0.052,2553,393,3950,0,0,0,0,0,0
$GC,2741,-0.85,-214.1,488.3,-14.2,366,2749,0.00,2.20,0.00,0.000,6,0.000,0.047,2551,1797,3950,0,0,0,0,0,0
$GC,3067,-0.85,-214.1,533.4,-13.3,397,3071,0.00,2.17,0.00,0.000,4,0.000,0.053,2558,3222,3948,0,0,0,0,0,0
$GC,3102,-0.88,-214.1,537.7,-12.1,399,3108,0.00,2.17,0.00,0.000,6,0.000,0.037,2558,1789,3947,0,0,0,0,0,0
$GC,3428,-0.88,-214.1,581.6,-13.8,430,3431,0.00,2.15,0.00,0.000,4,0.000,0.054,2558,392,3944,0,0,0,0,0,0
$GC,3481,-0.88,-214.1,588.9,-14.5,434,3485,0.00,2.17,0.00,0.000,6,0.000,0.048,2555,1805,3944,0,0,0,0,0,0
$GC,3815,-0.88,-214.1,633.5,-13.2,454,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1805,3942,0,0,0,0,0,0
$GC,4124,-0.88,-214.1,673.6,-12.9,469,4128,0.00,2.20,0.00,0.000,4,0.000,0.056,2545,3219,3938,0,0,0,0,0,0
$GC,4167,-0.91,-214.1,678.7,-12.0,471,4171,0.00,2.15,0.00,0.000,6,0.000,0.039,2545,1792,3938,0,0,0,0,0,0
$GC,4494,-0.91,-214.1,722.4,-13.4,487,4498,0.00,2.17,0.00,0.000,4,0.000,0.055,2545,397,3934,0,0,0,0,0,0
$GC,4544,-0.91,-214.1,729.4,-13.9,489,4548,0.00,2.20,0.00,0.000,6,0.000,0.054,2535,1810,3934,0,0,0,0,0,0
$GC,4861,-0.91,-214.1,772.2,-13.5,504,4865,0.00,2.17,0.00,0.000,4,0.000,0.056,2524,3209,3931,0,0,0,0,0,0
$GC,4893,-0.91,-214.1,777.0,-13.9,505,4901,0.00,2.15,0.00,0.000,6,0.000,0.040,2525,1798,3931,0,0,0,0,0,0
$GC,5212,-0.89,-214.1,821.8,-13.9,521,5216,0.10,2.22,0.00,0.000,4,0.188,0.058,2549,398,3928,0,0,0,0,0,0
$GC,5314,-0.91,-214.1,835.2,-12.6,525,5318,0.00,2.17,0.00,0.000,6,0.000,0.049,2541,1806,3927,0,0,0,0,0,0
$GC,5632,-0.91,-214.1,877.2,-13.1,540,5636,0.00,2.20,0.00,0.000,4,0.000,0.055,2541,395,3923,0,0,0,0,0,0
$GC,5654,-0.91,-214.1,880.6,-14.1,541,5658,0.00,2.17,0.00,0.000,6,0.000,0.050,2531,1800,3923,0,0,0,0,0,0
$GC,5976,-0.91,-214.1,925.7,-14.2,557,5980,0.00,2.22,0.00,0.000,4,0.000,0.059,2520,3215,3921,0,0,0,0,0,0
$GC,6009,-0.91,-214.1,930.5,-14.2,558,6018,0.00,2.17,0.00,0.000,6,0.000,0.041,2520,1791,3920,0,0,0,0,0,0
$GC,6326,-0.89,-214.1,976.1,-14.6,574,6331,0.12,2.22,0.00,0.000,4,0.176,0.057,2552,389,3918,0,0,0,0,0,0
$GC,6376,-0.92,-214.1,983.1,-13.0,576,6380,0.00,2.22,0.00,0.000,6,0.000,0.053,2544,1803,3918,0,0,0,0,0,0
$STATE,6530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6530,begin apogee
$GC,6538,-0.23,0.0,1002.6,12.6,584,6729,0.68,0.00,186.57,1.455,6,0.133,0.000,2758,1752,3072,0,0,0,0,0,0
$STATE,6730,end apogee,CONTROL_FINISHED_OK
$STATE,6730,begin climb
$GC,6734,1.16,214.1,1010.9,0.0,593,6945,1.30,2.45,202.02,1.388,4,0.059,0.057,3224,341,2198,0,0,0,0,0,0
$GC,6965,0.83,214.1,970.1,29.2,604,6970,0.47,2.38,0.00,0.000,6,0.208,0.050,3112,1752,2196,0,0,0,0,0,0
$GC,7289,0.63,214.1,894.3,22.5,620,7293,0.25,2.22,0.00,0.000,4,0.189,0.055,3028,3177,2191,0,0,0,0,0,0
$GC,7352,0.55,214.1,882.9,16.3,623,7356,0.00,2.17,0.00,0.000,6,0.000,0.042,3036,1739,2189,0,0,0,0,0,0
$GC,7680,0.46,214.1,830.5,16.0,639,7684,0.17,2.15,0.00,0.000,4,0.177,0.057,2999,347,2188,0,0,0,0,0,0
$GC,7705,0.40,214.1,827.0,15.3,640,7709,0.00,2.17,0.00,0.000,6,0.000,0.043,2999,1767,2188,0,0,0,0,0,0
$GC,8034,0.40,234.0,783.7,13.0,656,8060,0.12,2.35,18.12,1.253,4,0.186,0.056,2976,341,2117,0,0,0,0,0,0
$GC,8073,0.51,312.9,778.9,10.5,657,8153,0.00,2.20,74.55,1.291,6,0.000,0.043,2975,1757,1796,0,0,0,0,0,0
$GC,8471,0.59,341.7,729.6,12.6,677,8504,0.15,2.22,27.25,1.229,4,0.078,0.053,3045,3167,1678,0,0,0,0,0,0
$GC,8571,0.56,341.7,712.0,17.5,681,8580,0.12,2.20,0.00,0.000,6,0.184,0.043,3022,1749,1676,0,0,0,0,0,0
$GC,8888,0.54,341.7,663.4,15.6,697,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1749,1674,0,0,0,0,0,0
$GC,9198,0.54,341.7,617.3,14.7,712,9202,0.00,2.20,0.00,0.000,4,0.000,0.057,3031,340,1674,0,0,0,0,0,0
$GC,9219,0.54,341.7,613.7,14.9,713,9223,0.00,2.17,0.00,0.000,6,0.000,0.042,3031,1758,1671,0,0,0,0,0,0
$GC,9546,0.51,341.7,563.8,15.9,739,9550,0.00,2.15,0.00,0.000,4,0.000,0.053,3031,3165,1671,0,0,0,0,0,0
$GC,9579,0.49,341.7,557.7,16.4,741,9588,0.15,2.15,0.00,0.000,6,0.167,0.042,3002,1746,1670,0,0,0,0,0,0
$GC,9907,0.54,360.3,516.6,13.1,772,9926,0.00,0.00,17.38,1.102,6,0.000,0.000,3002,1746,1603,0,0,0,0,0,0
$GC,10244,0.62,390.3,472.9,12.6,804,10282,0.12,2.28,28.52,1.087,4,0.088,0.057,3083,350,1479,0,0,0,0,0,0
$GC,10301,0.55,390.3,462.8,20.0,808,10309,0.20,2.22,0.00,0.000,6,0.151,0.042,3020,1749,1478,0,0,0,0,0,0
$GC,10627,0.57,390.3,413.2,14.3,839,10631,0.00,2.15,0.00,0.000,4,0.000,0.050,3019,3165,1477,0,0,0,0,0,0
$GC,10684,0.71,444.1,405.5,11.6,843,10739,0.12,2.15,49.28,1.038,6,0.083,0.041,3095,1746,1260,0,0,0,0,0,0
$GC,11062,0.62,444.1,327.7,21.5,878,11067,0.20,2.17,0.00,0.000,4,0.170,0.053,3050,347,1257,0,0,0,0,0,0
$GC,11081,0.56,444.1,322.9,20.9,879,11085,0.00,2.17,0.00,0.000,6,0.000,0.043,3049,1760,1255,0,0,0,0,0,0
$GC,11411,0.58,444.1,273.1,14.3,925,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1763,1255,0,0,0,0,0,0
$GC,11743,0.63,460.5,227.7,13.2,986,11765,0.00,2.15,15.38,0.832,4,0.000,0.046,3050,3164,1193,0,0,0,0,0,0
$GC,11795,0.76,505.0,221.2,12.0,994,11842,0.00,2.20,39.38,0.856,6,0.000,0.040,3058,1746,1012,0,0,0,0,0,0
$GC,12173,0.87,538.1,172.6,12.5,1061,12209,0.17,2.28,29.38,0.795,4,0.063,0.052,3167,342,877,0,0,0,0,0,0
$GC,12239,0.77,538.1,158.4,25.7,1071,12247,0.25,2.17,0.00,0.000,6,0.155,0.037,3091,1757,876,0,0,0,0,0,0
$GC,12567,0.95,617.8,111.1,10.4,1132,12644,0.15,2.33,68.82,0.743,4,0.074,0.052,3177,347,551,0,0,0,0,0,0
$GC,12677,0.91,617.8,88.9,25.1,1147,12686,0.12,2.20,0.00,0.000,6,0.128,0.038,3136,1748,548,0,0,0,0,0,0
$GC,13007,0.93,617.8,32.8,17.0,1208,13015,0.00,2.17,0.00,0.000,4,0.000,0.044,3132,3162,545,0,0,0,0,0,0
$GC,13056,1.00,617.8,24.2,14.3,1216,13064,0.00,2.17,0.00,0.000,6,0.000,0.037,3147,1750,545,0,0,0,0,0,0
$STATE,13214,end climb,SURFACE_DEPTH_REACHED
$STATE,13214,begin surface coast
$FINISH,0.9,1.009365
$STATE,13236,end surface coast,CONTROL_FINISHED_OK
$STATE,13236,begin surface
$SM_CCo,13314,0.00,0.000,0,0,544,620.12
$SM_GC,1.63,7.88,0.00,0.00,0.038,0.000,0.000,166,1833,544,-8.35,0.93,620.12
$IRIDIUM_FIX,2111.01,12601.30,061110,010146
$TT8_MAMPS,0.026215
$HUMID,43.26
$INTERNAL_PRESSURE,8.67679
$TCM_TEMP,24.70
$XPDR_PINGS,89
$24V_AH,22.1,86.169
$10V_AH,10.1,54.487
$FG_AHR_24Vo,22.000
$FG_AHR_10Vo,9.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.725,127.750,756.650,0.000,0.000,80.777,43.684,241.025,22.250,0.000,15.139,3068.228,6558.403,745.177,3175.856,450.171,0.000,1992.964,0.000,2800.180,0.000,1.150,0.000
$DEVICE_MAMPS,226.440,115.515,1455.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.490,1067.851,1392.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333728
$DATA_FILE_SIZE,73593,1249
$CAP_FILE_SIZE,158172,0
$CFSIZE,260165632,152154112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,201.4,1
$GPS,061110,050206,2116.375,12601.079,34,1.0,34,-2.9